function cost = costFuncAffineCam(fs,omega,T) 

% global RHSimg;
% global X3Dpts;
% global depth0;
% RHS = RHSimg;
% Xreal = X3Dpts;
% Zo = depth0;

global DLTcc;
cc = DLTcc;

what = [0 -omega(3) omega(2); omega(3) 0 -omega(1); -omega(2) omega(1) 0];
%genPts = [fs 0 0; 0 fs 0; 0 0 1] * [expm( what ) T(:)] * Xreal;

proj2 = [eye(2,2) [0;0] ];
fhat = eye(3,3) * fs;
fproj = proj2 * fhat;
R = expm(what);
LHS = fproj * R;
lhs = reshape(LHS',3,2);
lhs = lhs(:);
rhs = [cc(1:3); cc(5:7)];
cost = norm( lhs - rhs );


breakhere = 1;

cost = 0;